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ManualVelocitySmoothingXYTest.cpp
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33 
34 /**
35  * Test code for the Manual Velocity Smoothing library
36  * Run this test only using make tests TESTFILTER=ManualVelocitySmoothing
37  */
38 
39 #include <gtest/gtest.h>
40 #include <matrix/matrix/math.hpp>
41 
43 
44 using namespace matrix;
45 
46 class ManualVelocitySmoothingXYTest : public ::testing::Test
47 {
48 public:
50 };
51 
52 
54 {
55  // GIVEN: Some max values
56  _smoothing.setMaxJerk(11.f);
57  _smoothing.setMaxAccel(7.f);
58  _smoothing.setMaxVel(5.f);
59 
60  // THEN: We should be able to get them back
61  EXPECT_EQ(_smoothing.getMaxJerk(), 11.f);
62  EXPECT_EQ(_smoothing.getMaxAccel(), 7.f);
63  EXPECT_EQ(_smoothing.getMaxVel(), 5.f);
64 }
65 
67 {
68  // GIVEN: the initial conditions
69  Vector2f v0(11.f, 13.f);
70  _smoothing.setCurrentVelocity(v0);
71 
72  // WHEN: we get the current state
73  Vector3f j_end;
74  Vector3f a_end;
75  Vector3f v_end;
76  Vector3f x_end;
77  j_end.xy() = _smoothing.getCurrentJerk();
78  a_end.xy() = _smoothing.getCurrentAcceleration();
79  v_end.xy() = _smoothing.getCurrentVelocity();
80  x_end.xy() = _smoothing.getCurrentPosition();
81 
82  // THEN: the returned values should match the input
83  EXPECT_EQ(j_end, Vector3f(0.f, 0.f, 0.f));
84  EXPECT_EQ(a_end, Vector3f(0.f, 0.f, 0.f));
85  EXPECT_EQ(v_end, Vector3f(11.f, 13.f, 0.f));
86  EXPECT_EQ(x_end, Vector3f(0.f, 0.f, 0.f));
87 }
TEST_F(ManualVelocitySmoothingXYTest, setGet)
Vector< float, 6 > f(float t, const Matrix< float, 6, 1 > &, const Matrix< float, 3, 1 > &)
Definition: integration.cpp:8
Vector3< float > Vector3f
Definition: Vector3.hpp:136
const Slice< Type, 2, 1, 3, 1 > xy() const
Definition: Vector3.hpp:108